version: 66.06
glider: 139
mission: 8
dive: 10
start: 7 28 110 5 52 44
data:
$ID,139
$MISSION,8
$DIVE,10
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,600
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,148
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52108
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2150463.8
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,054537,2115.328,-15754.724,42,1.5,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-73.4
$GPS2,055226,2115.317,-15754.716,15,1.5,15,9.8
$SPEED_LIMITS,0.156,0.190
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,214.7,18122,-22.9,-9.009
$D_GRID,400
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.53,-77.9,0.0,0.0,0,93,0.00,0.00,-76.00,0.000,2,0.000,0.000,430,2087,2937,0,0,0,0,0,0
$GC,97,-1.53,-77.9,3.8,-8.2,14,128,14.73,2.72,-6.90,0.000,4,0.137,0.060,3163,550,3371,0,0,0,0,0,0
$GC,218,-2.48,-77.9,22.7,-8.8,39,225,0.88,2.33,0.00,0.000,6,0.058,0.020,2960,1980,3372,0,0,0,0,0,0
$GC,422,-3.23,-77.9,41.0,-9.1,65,432,0.70,2.22,0.00,0.000,4,0.044,0.026,2789,3332,3373,0,0,0,0,0,0
$GC,481,-3.38,-77.9,48.0,-13.7,71,486,0.10,2.33,0.00,0.000,6,0.074,0.032,2750,1941,3373,0,0,0,0,0,0
$GC,746,-3.38,-77.9,100.2,-19.4,95,750,0.00,2.38,0.00,0.000,4,0.000,0.048,2750,545,3373,0,0,0,0,0,0
$GC,880,-3.33,-77.9,128.9,-19.2,109,885,0.12,2.22,0.00,0.000,6,0.107,0.020,2774,1948,3373,0,0,0,0,0,0
$GC,1143,-3.45,-77.9,169.4,-14.9,133,1148,0.12,2.45,0.00,0.000,4,0.066,0.048,2731,542,3373,0,0,0,0,0,0
$GC,1245,-3.45,-77.9,187.9,-19.2,143,1249,0.00,2.25,0.00,0.000,6,0.000,0.021,2731,1941,3374,0,0,0,0,0,0
$GC,1500,-3.48,-77.9,230.9,-17.2,158,1505,0.00,2.40,0.00,0.000,4,0.000,0.050,2730,545,3374,0,0,0,0,0,0
$GC,1570,-3.48,-77.9,243.6,-17.2,161,1574,0.00,2.28,0.00,0.000,6,0.000,0.021,2731,1958,3374,0,0,0,0,0,0
$GC,1897,-3.57,-77.9,294.1,-14.6,177,1902,0.00,2.45,0.00,0.000,4,0.000,0.051,2731,547,3374,0,0,0,0,0,0
$GC,2007,-3.61,-77.9,311.4,-15.2,180,2011,0.00,2.28,0.00,0.000,6,0.000,0.023,2731,1951,3373,0,0,0,0,0,0
$GC,2356,-3.73,-77.9,358.1,-12.9,189,2361,0.20,2.47,0.00,0.000,4,0.050,0.054,2672,545,3373,0,0,0,0,0,0
$GC,2519,-3.68,-77.9,384.0,-16.1,192,2524,0.12,2.30,0.00,0.000,6,0.108,0.026,2697,1952,3372,0,0,0,0,0,0
$STATE,2655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2655,begin apogee
$GC,2663,-0.31,0.0,402.4,13.2,196,2732,3.42,0.00,64.03,0.782,6,0.074,0.000,3435,2039,3050,0,0,0,0,0,0
$STATE,2733,end apogee,CONTROL_FINISHED_OK
$STATE,2733,begin climb
$GC,2736,1.53,77.9,402.4,0.0,197,2810,1.25,2.38,63.20,0.772,4,0.040,0.041,3724,3396,2731,0,0,0,0,0,0
$GC,3074,1.32,385.2,454.6,-14.7,204,3340,0.00,2.38,256.08,0.821,6,0.000,0.036,3724,2001,1478,0,0,0,0,0,0
$GC,3668,0.62,385.2,297.7,37.3,219,3673,0.43,2.38,0.00,0.000,4,0.121,0.034,3642,3391,1471,0,0,0,0,0,0
$GC,3935,0.20,385.2,214.2,27.7,230,3943,0.47,2.42,0.00,0.000,6,0.119,0.044,3548,2018,1469,0,0,0,0,0,0
$GC,4258,-0.17,385.2,124.2,29.0,258,4263,0.40,2.30,0.00,0.000,4,0.116,0.029,3469,3391,1466,0,0,0,0,0,0
$GC,4374,-0.31,385.2,98.4,20.3,270,4379,0.17,2.38,0.00,0.000,6,0.104,0.037,3435,2007,1466,0,0,0,0,0,0
$GC,4637,-0.42,385.2,50.9,15.1,294,4642,0.12,2.40,0.00,0.000,4,0.114,0.048,3412,602,1465,0,0,0,0,0,0
$GC,4672,-0.54,385.2,45.3,15.6,297,4677,0.15,2.30,0.00,0.000,6,0.112,0.023,3384,2008,1463,0,0,0,0,0,0
$GC,4939,-0.54,385.2,13.9,10.7,333,4946,0.00,2.45,0.00,0.000,4,0.000,0.047,3383,606,1463,0,0,0,0,0,0
$STATE,5018,end climb,SURFACE_DEPTH_REACHED
$STATE,5018,begin surface coast
$FINISH,0.6,1.023111
$STATE,5042,end surface coast,CONTROL_FINISHED_OK
$STATE,5042,begin surface
$SM_CCo,5066,89.60,0.511,0,0,807,550.21
$SM_GC,1.24,0.00,0.00,89.60,0.000,0.000,0.511,428,1981,807,-14.14,0.88,550.21
$IRIDIUM_FIX,2106.38,-15752.16,221099,040438
$TT8_MAMPS,0.029146
$HUMID,57.28
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,23.4,1.070
$10V_AH,10.5,0.504
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,36.075,56.750,383.300,89.600,0.000,22.514,34.256,220.993,4.000,0.000,15.590,708.546,2657.284,463.299,1272.944,470.419,0.000,1060.691,0.000,1248.078,0.000,26.120,0.000
$DEVICE_MAMPS,137.293,95.108,821.457,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,237.829,231.866,597.458,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,19167,356
$CAP_FILE_SIZE,74590,0
$CFSIZE,260165632,212586496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280710,071932,2114.852,-15754.713,13,1.8,13,9.8